Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument

ABSTRACT

An adapter for use with an electromechanical surgical instrument. The adapter includes a shaft assembly and a surgical end effector that is selectively articulatable and rotatable relative to the shaft assembly through a range of articulated and rotated positions. The adapter includes a firing member that is axially displaceable through the end effector. The adapter also includes a control system that operably interfaces with an articulation actuator assembly of the adapter and a source of articulation motions in the electromechanical surgical instrument to cause the source of articulation motions to apply additional rotary articulation motions to the articulation actuator assembly that are required to maintain the surgical end effector in an articulated position during an application of axial firing motions to the firing member.

BACKGROUND

The present invention relates to surgical instruments and, in various arrangements, to surgical stapling and cutting instruments and staple cartridges for use therewith that are designed to staple and cut tissue.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together with advantages thereof, may be understood in accordance with the following description taken in conjunction with the accompanying drawings as follows:

FIG. 1 is a perspective view of an electromechanical surgical system;

FIG. 2 is a perspective view of a distal end of an electromechanical surgical instrument portion of the surgical system of FIG. 1;

FIG. 3 is an exploded assembly view of an outer shell feature and the electromechanical surgical instrument of FIG. 2;

FIG. 4 is a rear perspective view of a portion of the electromechanical surgical instrument of FIG. 2;

FIG. 5 is a partial exploded assembly view of a portion of an adapter and the electromechanical surgical instrument of the surgical system of FIG. 1;

FIG. 6 is an exploded assembly view of a portion of the adapter of FIG. 5;

FIG. 7 is a cross-sectional perspective view of a portion of an articulation assembly of an adapter;

FIG. 8 is a perspective view of the articulation assembly of FIG. 7;

FIG. 9 is another perspective view of the articulation assembly of FIG. 8;

FIG. 10 is an exploded assembly view of a loading unit employed in the electromechanical surgical system of FIG. 1;

FIG. 11 is a perspective view of an alternative adapter embodiment;

FIG. 12 is a side elevational view of a portion of a loading unit of the adapter of FIG. 11 with the jaws thereof in an open position;

FIG. 13 is another side elevational view of a portion of the loading unit of FIG. 11 with portions thereof shown in cross-section and the jaws thereof in a closed position;

FIG. 14 is a bottom view of a portion of the loading unit of FIG. 13 with portions thereof shown in cross-section;

FIG. 15 is a perspective view of a portion of the loading unit of FIG. 14 with a portion of the outer tube shown in phantom lines;

FIG. 16 is a cross-sectional view of a proximal portion of another adapter employing various seal arrangements therein;

FIG. 17 is an end cross-sectional view of a portion of the adapter of FIG. 16;

FIG. 18 is a side elevation al view of another adapter;

FIG. 19 is a cross-sectional view of a portion of the adapter of FIG. 18;

FIG. 20 is a rear perspective view of portions of another adapter;

FIG. 21 is a cross-sectional view of another adapter;

FIG. 22 is a perspective view of portions of an adapter that includes an arrangement for measuring an amount of strain experienced by an articulation driver of the adapter; and

FIG. 23 is a flow chart depicting a method of controlling motors of an electromechanical surgical device attached to an adapter of FIG. 22.

Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrate various embodiments of the invention, in one form, and such exemplifications are not to be construed as limiting the scope of the invention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following U.S. Patent Applications that were filed on Dec. 15, 2017 and which are each herein incorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 15/843,485, entitled SEALED         ADAPTERS FOR USE WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS,         now U.S. Patent Application Publication No. 2019/0183492;     -   U.S. patent application Ser. No. 15/843,518, entitled END         EFFECTORS WITH POSITIVE JAW OPENING FEATURES FOR USE WITH         ADAPTERS FOR ELECTROMECHANICAL SURGICAL INSTRUMENTS, now U.S.         Patent Application Publication No. 2019/0183496;     -   U.S. patent application Ser. No. 15/843,535, entitled SURGICAL         END EFFECTORS WITH CLAMPING ASSEMBLIES CONFIGURED TO INCREASE         JAW APERTURE RANGES, now U.S. Patent Application Publication No.         2019/0183498;     -   U.S. patent application Ser. No. 15/843,558, entitled SURGICAL         END EFFECTORS WITH PIVOTAL JAWS CONFIGURED TO TOUCH AT THEIR         RESPECTIVE DISTAL ENDS WHEN FULLY CLOSED, now U.S. Patent         Application Publication No. 2019/0183499;     -   U.S. patent application Ser. No. 15/843,528, entitled SURGICAL         END EFFECTORS WITH JAW STIFFENER ARRANGEMENTS CONFIGURED TO         PERMIT MONITORING OF FIRING MEMBER, now U.S. Patent Application         Publication No. 2019/0183497;     -   U.S. patent application Ser. No. 15/843,567, entitled ADAPTERS         WITH END EFFECTOR POSITION SENSING AND CONTROL ARRANGEMENTS FOR         USE IN CONNECTION WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS,         now U.S. Patent Application Publication No. 2019/0183500;     -   U.S. patent application Ser. No. 15/843,556, entitled DYNAMIC         CLAMPING ASSEMBLIES WITH IMPROVED WEAR CHARACTERISTICS FOR USE         IN CONNECTION WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS, now         U.S. Patent Application Publication No. 2019/0183490;     -   U.S. patent application Ser. No. 15/843,514, entitled ADAPTERS         WITH FIRING STROKE SENSING ARRANGEMENTS FOR USE IN CONNECTION         WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS, now U.S. Patent         Application Publication No. 2019/0183495;     -   U.S. patent application Ser. No. 15/843,508, entitled HANDHELD         ELECTROMECHANICAL SURGICAL INSTRUMENTS WITH IMPROVED MOTOR         CONTROL ARRANGEMENTS FOR POSITIONING COMPONENTS OF AN ADAPTER         COUPLED THERETO, now U.S. Patent Application Publication No.         2019/0183494;     -   U.S. patent application Ser. No. 15/843,682, entitled SYSTEMS         AND METHODS OF CONTROLLING A CLAMPING MEMBER FIRING RATE OF A         SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.         2019/0183501;     -   U.S. patent application Ser. No. 15/843,689, entitled SYSTEMS         AND METHODS OF CONTROLLING A CLAMPING MEMBER, now U.S. Patent         Application Publication No. 2019/0183502;     -   U.S. patent application Ser. No. 15/843,704, entitled METHODS OF         OPERATING SURGICAL END EFFECTORS, now U.S. Patent Application         Publication No. 2019/0183503;

Numerous specific details are set forth to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments as described in the specification and illustrated in the accompanying drawings. Well-known operations, components, and elements have not been described in detail so as not to obscure the embodiments described in the specification. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and thus it can be appreciated that the specific structural and functional details disclosed herein may be representative and illustrative. Variations and changes thereto may be made without departing from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and “comprising”), “have” (and any form of have, such as “has” and “having”), “include” (and any form of include, such as “includes” and “including”) and “contain” (and any form of contain, such as “contains” and “containing”) are open-ended linking verbs. As a result, a surgical system, device, or apparatus that “comprises,” “has,” “includes” or “contains” one or more elements possesses those one or more elements, but is not limited to possessing only those one or more elements. Likewise, an element of a system, device, or apparatus that “comprises,” “has,” “includes” or “contains” one or more features possesses those one or more features, but is not limited to possessing only those one or more features.

The terms “proximal” and “distal” are used herein with reference to a clinician manipulating the handle portion of the surgical instrument. The term “proximal” refers to the portion closest to the clinician and the term “distal” refers to the portion located away from the clinician. It will be further appreciated that, for convenience and clarity, spatial terms such as “vertical”, “horizontal”, “up”, and “down” may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in numerous surgical procedures and applications including, for example, in connection with open surgical procedures. As the present Detailed Description proceeds, the reader will further appreciate that the various instruments disclosed herein can be inserted into a body in any way, such as through a natural orifice, through an incision or puncture hole formed in tissue, etc. The working portions or end effector portions of the instruments can be inserted directly into a patient's body or can be inserted through an access device that has a working channel through which the end effector and elongate shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effector extending from the shaft. The end effector comprises a first jaw and a second jaw. The first jaw comprises a staple cartridge. The staple cartridge is insertable into and removable from the first jaw; however, other embodiments are envisioned in which a staple cartridge is not removable from, or at least readily replaceable from, the first jaw. The second jaw comprises an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closure axis; however, other embodiments are envisioned in which the first jaw is pivotable relative to the second jaw. The surgical stapling system further comprises an articulation joint configured to permit the end effector to be rotated, or articulated, relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are envisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of the tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck. Thereafter, staples removably stored in the cartridge body can be deployed into the tissue. The cartridge body includes staple cavities defined therein wherein staples are removably stored in the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. The drivers are movable between a first, or unfired position, and a second, or fired, position to eject the staples from the staple cavities. The drivers are retained in the cartridge body by a retainer which extends around the bottom of the cartridge body and includes resilient members configured to grip the cartridge body and hold the retainer to the cartridge body. The drivers are movable between their unfired positions and their fired positions by a sled. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled comprises a plurality of ramped surfaces configured to slide under the drivers and lift the drivers, and the staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. The firing member is configured to contact the sled and push the sled toward the distal end. The longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further comprises a first cam which engages the first jaw and a second cam which engages the second jaw. As the firing member is advanced distally, the first cam and the second cam can control the distance, or tissue gap, between the deck of the staple cartridge and the anvil. The firing member also comprises a knife configured to incise the tissue captured intermediate the staple cartridge and the anvil. It is desirable for the knife to be positioned at least partially proximal to the ramped surfaces such that the staples are ejected ahead of the knife.

FIG. 1 depicts a motor-driven (electromechanical) surgical system 1 that may be used to perform a variety of different surgical procedures. As can be seen in that Figure, one example of the surgical system 1 includes a powered handheld electromechanical surgical instrument 100 that is configured for selective attachment thereto of a plurality of different surgical tool implements (referred to herein as “adapters”) that are each configured for actuation and manipulation by the powered handheld electromechanical surgical instrument. As illustrated in FIG. 1, the handheld surgical instrument 100 is configured for selective connection with an adapter 200, and, in turn, adapter 200 is configured for selective connection with end effectors that comprise a single use loading unit (“SULU”) or a disposable loading unit (“DLU”) or a multiple use loading unit (“MULU”). In another surgical system embodiment, various forms of adapter 200 may also be effectively employed with a tool drive assembly of a robotically controlled or automated surgical system. For example, the surgical tool assemblies disclosed herein may be employed with various robotic systems, instruments, components and methods such as, but not limited to, those disclosed in U.S. Pat. No. 9,072,535, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, which is hereby incorporated by reference herein in its entirety.

As illustrated in FIGS. 1 and 2, surgical instrument 100 includes a power-pack 101 and an outer shell housing 10 that is configured to selectively receive and substantially encase the power-pack 101. The power pack 101 may also be referred to herein as handle assembly 101. One form of surgical instrument 100, for example, is disclosed in International Publication No. WO 2016/057225 A1, International Application No. PCT/US2015/051837, entitled HANDHELD ELECTROMECHANICAL SURGICAL SYSTEM, the entire disclosure of which is hereby incorporated by reference herein. Various features of surgical instrument 100 will not be disclosed herein beyond what is necessary to understand the various features of the inventions disclosed herein with it being understood that further details may be gleaned from reference to WO 2016/057225 A1 and other references incorporated by reference herein.

As illustrated in FIG. 3, outer shell housing 10 includes a distal half-section 10 a and a proximal half-section 10 b that is pivotably connected to distal half-section 10 a by a hinge 16 located along an upper edge of distal half-section 10 a and proximal half-section 10 b. When joined, distal and proximal half-sections 10 a, 10 b define a shell cavity 10 c therein in which the power-pack 101 is selectively situated. Each of distal and proximal half-sections 10 a, 10 b includes a respective upper shell portion 12 a, 12 b, and a respective lower shell portion 14 a, 14 b. Lower shell portions 14 a, 14 b define a snap closure feature 18 for selectively securing the lower shell portions 14 a, 14 b to one another and for maintaining shell housing 10 in a closed condition. Distal half-section 10 a of shell housing 10 defines a connecting portion 20 that is configured to accept a corresponding drive coupling assembly 210 of adapter 200 (see FIG. 5). Specifically, distal half-section 10 a of shell housing 10 has a recess that receives a portion of drive coupling assembly 210 of adapter 200 when adapter 200 is mated to surgical instrument 100.

Connecting portion 20 of distal half-section 10 a defines a pair of axially extending guide rails 21 a, 21 b that project radially inward from inner side surfaces thereof as shown in FIG. 5. Guide rails 21 a, 21 b assist in rotationally orienting adapter 200 relative to surgical instrument 100 when adapter 200 is mated to surgical instrument 100. Connecting portion 20 of distal half-section 10 a defines three apertures 22 a, 22 b, 22 c that are formed in a distally facing surface thereof and which are arranged in a common plane or line with one another. Connecting portion 20 of distal half-section 10 a also defines an elongate slot 24 also formed in the distally facing surface thereof. Connecting portion 20 of distal half-section 10 a further defines a female connecting feature 26 (see FIG. 2) formed in a surface thereof. Female connecting feature 26 selectively engages with a male connecting feature of adapter 200.

Distal half-section 10 a of shell housing 10 supports a distal facing toggle control button 30. The toggle control button 30 is capable of being actuated in a left, right, up and down direction upon application of a corresponding force thereto or a depressive force thereto. Distal half-section 10 a of shell housing 10 supports a right-side pair of control buttons 32 a, 32 b (see FIG. 3); and a left-side pair of control button 34 a, 34 b (see FIG. 2). The right-side control buttons 32 a, 32 b and the left-side control buttons 34 a, 34 b are capable of being actuated upon application of a corresponding force thereto or a depressive force thereto. Proximal half-section 10 b of shell housing 10 supports a right-side control button 36 a (see FIG. 3) and a left-side control button 36 b (see FIG. 2). Right-side control button 36 a and left-side control button 36 b are capable of being actuated upon application of a corresponding force thereto or a depressive force thereto.

Shell housing 10 includes a sterile barrier plate assembly 60 selectively supported in distal half-section 10 a. Specifically, the sterile barrier plate assembly 60 is disposed behind connecting portion 20 of distal half-section 10 a and within shell cavity 10 c of shell housing 10. The plate assembly 60 includes a plate 62 rotatably supporting three coupling shafts 64 a, 64 b, 64 c (see FIGS. 3 and 5). Each coupling shaft 64 a, 64 b, 64 c extends from opposed sides of plate 62 and has a tri-lobe transverse cross-sectional profile. Each coupling shaft 64 a, 64 b, 64 c extends through the respective apertures 22 a, 22 b, 22 c of connecting portion 20 of distal half-section 10 a when the sterile barrier plate assembly 60 is disposed within shell cavity 10 c of shell housing 10. The plate assembly 60 further includes an electrical pass-through connector 66 supported on plate 62. Pass-through connector 66 extends from opposed sides of plate 62. Pass-through connector 66 defines a plurality of contact paths each including an electrical conduit for extending an electrical connection across plate 62. When the plate assembly 60 is disposed within shell cavity 10 c of shell housing 10, distal ends of coupling shaft 64 a, 64 b, 64 c and a distal end of pass-through connector 66 are disposed or situated within connecting portion 20 of distal half-section 10 a of shell housing 10, and are configured to electrically and/or mechanically engage respective corresponding features of adapter 200.

Referring to FIGS. 3 and 4, the power-pack or the handle assembly 101 includes an inner handle housing 110 having a lower housing portion 104 and an upper housing portion 108 extending from and/or supported on lower housing portion 104. Lower housing portion 104 and upper housing portion 108 are separated into a distal half section 110 a and a proximal half-section 110 b connectable to distal half-section 110 a by a plurality of fasteners. When joined, distal and proximal half-sections 110 a, 110 b define the inner handle housing 110 having an inner housing cavity 110 c therein in which a power-pack core assembly 106 is situated. Power-pack core assembly 106 is configured to control the various operations of surgical instrument 100.

Distal half-section 110 a of inner handle housing 110 supports a distal toggle control interface 130 that is in operative registration with the distal toggle control button 30 of shell housing 10. In use, when the power-pack 101 is disposed within shell housing 10, actuation of the toggle control button 30 exerts a force on toggle control interface 130. Distal half-section 110 a of inner handle housing 110 also supports a right-side pair of control interfaces (not shown), and a left-side pair of control interfaces 132 a, 132 b. In use, when the power-pack 101 is disposed within shell housing 10, actuation of one of the right-side pair of control buttons or the left-side pair of control button of distal half-section 10 a of shell housing 10 exerts a force on a respective one of the right-side pair of control interfaces 132 a, 132 b or the left-side pair of control interfaces 132 a, 132 b of distal half-section 110 a of inner handle housing 110.

With reference to FIGS. 1-5, inner handle housing 110 provides a housing in which power-pack core assembly 106 is situated. Power-pack core assembly 106 includes a battery circuit 140, a controller circuit board 142 and a rechargeable battery 144 configured to supply power to any of the electrical components of surgical instrument 100. Controller circuit board 142 includes a motor controller circuit board 142 a, a main controller circuit board 142 b, and a first ribbon cable 142 c interconnecting motor controller circuit board 142 a and main controller circuit board 142 b. Power-pack core assembly 106 further includes a display screen 146 supported on main controller circuit board 142 b. Display screen 146 is visible through a clear or transparent window 110 d (see FIG. 3) provided in proximal half-section 110 b of inner handle housing 110. It is contemplated that at least a portion of inner handle housing 110 may be fabricated from a transparent rigid plastic or the like. It is further contemplated that shell housing 10 may either include a window formed therein (in visual registration with display screen 146 and with window 110 d of proximal half-section 110 b of inner handle housing 110, and/or shell housing 10 may be fabricated from a transparent rigid plastic or the like.

Power-pack core assembly 106 further includes a first motor 152, a second motor 154, and a third motor 156 that are supported by motor bracket 148 and are each electrically connected to controller circuit board 142 and battery 144. Motors 152, 154, 156 are disposed between motor controller circuit board 142 a and main controller circuit board 142 b. Each motor 152, 154, 156 includes a respective motor shaft 152 a, 154 a, 156 a extending therefrom. Each motor shaft 152 a, 154 a, 156 a has a tri-lobe transverse cross-sectional profile for transmitting rotative forces or torque. Each motor 152, 154, 156 is controlled by a respective motor controller. Rotation of motor shafts 152 a, 154 a, 156 a by respective motors 152, 154, 156 function to drive shafts and/or gear components of adapter 200 in order to perform the various operations of surgical instrument 100. In particular, motors 152, 154, 156 of power-pack core assembly 106 are configured to drive shafts and/or gear components of adapter 200.

As illustrated in FIGS. 1 and 5, surgical instrument 100 is configured for selective connection with adapter 200, and, in turn, adapter 200 is configured for selective connection with end effector 500. Adapter 200 includes an outer knob housing 202 and an outer tube 206 that extends from a distal end of knob housing 202. Knob housing 202 and outer tube 206 are configured and dimensioned to house the components of adapter assembly 200. Outer tube 206 is dimensioned for endoscopic insertion, in particular, that outer tube is passable through a typical trocar port, cannula or the like. Knob housing 202 is dimensioned to not enter the trocar port, cannula of the like. Knob housing 202 is configured and adapted to connect to connecting portion 20 of the outer shell housing 10 of surgical instrument 100.

Adapter 200 is configured to convert a rotation of either of first or second coupling shafts 64 a, 64 b of surgical instrument 100 into axial translation useful for operating a drive assembly 540 and an articulation link 560 of end effector 500, as illustrated in FIG. 10 and as will be described in greater detail below. As illustrated in FIG. 6, adapter 200 includes the proximal inner housing assembly 204 that rotatably supports a first rotatable proximal drive shaft 212, a second rotatable proximal drive shaft 214, and a third rotatable proximal drive shaft 216 therein. Each proximal drive shaft 212, 214, 216 functions as a rotation receiving member to receive rotational forces from respective coupling shafts 64 a, 64 b and 64 c of surgical instrument 100. In addition, the drive coupling assembly 210 of adapter 200 is also configured to rotatably support first, second and third connector sleeves 218, 220 and 222, respectively, arranged in a common plane or line with one another. Each connector sleeve 218, 220, 222 is configured to mate with respective first, second and third coupling shafts 64 a, 64 b, 64 c of surgical instrument 100, as described above. Each connector sleeves 218, 222, 220 is further configured to mate with a proximal end of respective first, second, and third proximal drive shafts 212, 214, 216 of adapter 200.

Drive coupling assembly 210 of adapter 200 also includes a first, a second, and a third biasing member 224, 226, and 228 disposed distally of respective first, second, and third connector sleeves 218, 220, 222. Each biasing members 224, 226, and 228 is disposed about respective first, second, and third rotatable proximal drive shaft 212, 214, and 216. Biasing members 224, 226, and 228 act on respective connector sleeves 218, 222, and 220 to help maintain connector sleeves 218, 222. and 220 engaged with the distal end of respective coupling shafts 64 a, 64 b, and 64 c of surgical instrument 100 when adapter 200 is connected to surgical instrument 100.

Also in the illustrated arrangement, adapter 200 includes first, second, and third drive converting assemblies 240, 250, 260, respectively, that are each disposed within inner housing assembly 204 and outer tube 206. Each drive converting assembly 240, 250, 260 is configured and adapted to transmit or convert a rotation of a first, second, and third coupling shafts 64 a, 64 b, and 64 c of surgical instrument 100 into axial translation of an articulation driver or bar 258 of adapter 200, to effectuate articulation of end effector 500; a rotation of a ring gear 266 of adapter 200, to effectuate rotation of adapter 200; or axial translation of a distal drive member 248 of adapter 200 to effectuate closing, opening, and firing of end effector 500.

Still referring to FIG. 6, first force/rotation transmitting/converting assembly 240 includes first rotatable proximal drive shaft 212, which, as described above, is rotatably supported within inner housing assembly 204. First rotatable proximal drive shaft 212 includes a non-circular or shaped proximal end portion configured for connection with first connector sleeve 218 which is connected to respective first coupling shaft 64 a of surgical instrument 100. First rotatable proximal drive shaft 212 includes a threaded distal end portion 212 b. First force/rotation transmitting/converting assembly 240 further includes a drive coupling nut 244 that threadably engages the threaded distal end portion 212 b of first rotatable proximal drive shaft 212, and which is slidably disposed within outer tube 206. Drive coupling nut 244 is slidably keyed within proximal core tube portion of outer tube 206 so as to be prevented from rotation as first rotatable proximal drive shaft 212 is rotated. In this manner, as the first rotatable proximal drive shaft 212 is rotated, drive coupling nut 244 is translated along threaded distal end portion 212 b of first rotatable proximal drive shaft 212 and, in turn, through and/or along outer tube 206.

First force/rotation transmitting/converting assembly 240 further includes a distal drive member 248 that is mechanically engaged with drive coupling nut 244, such that axial movement of drive coupling nut 244 results in a corresponding amount of axial movement of distal drive member 248. The distal end portion of distal drive member 248 supports a connection member 247 configured and dimensioned for selective engagement with an engagement member 546 of a drive assembly 540 of end effector 500 (FIG. 10). Drive coupling nut 244 and/or distal drive member 248 function as a force transmitting member to components of end effector 500. In operation, as first rotatable proximal drive shaft 212 is rotated, as a result of the rotation of first coupling shaft 64 a of surgical instrument 100, drive coupling nut 244 is translated axially along first rotatable proximal drive shaft 212. As drive coupling nut 244 is translated axially along first rotatable proximal drive shaft 212, distal drive member 248 is translated axially relative to outer tube 206. As distal drive member 248 is translated axially, with connection member 247 connected thereto and engaged with a hollow drive member 548 attached to drive assembly 540 of end effector 500 (FIG. 10), distal drive member 248 causes concomitant axial translation of drive assembly 540 of end effector 500 to effectuate a closure of a tool assembly portion 600 of the end effector 500 and a firing of various components within the tool assembly.

Still referring to FIG. 6, second drive converting assembly 250 of adapter 200 includes second proximal drive shaft 214 that is rotatably supported within inner housing assembly 204. Second rotatable proximal drive shaft 214 includes a non-circular or shaped proximal end portion configured for connection with second coupling shaft 64 c of surgical instrument 100. Second rotatable proximal drive shaft 214 further includes a threaded distal end portion 214 a configured to threadably engage an articulation bearing housing 253 of an articulation bearing assembly 252. Referring to FIGS. 6-9, the articulation bearing housing 253 supports an articulation bearing 255 that has an inner race 257 that is independently rotatable relative to an outer race 259. Articulation bearing housing 253 has a non-circular outer profile, for example tear-dropped shaped, that is slidably and non-rotatably disposed within a complementary bore (not shown) of inner housing hub 204 a. Second drive converting assembly 250 of adapter 200 further includes articulation bar 258 that has a proximal portion that is secured to inner race 257 of articulation bearing 255. A distal portion of articulation bar 258 includes a slot 258 a therein, which is configured to accept a hook 562 the articulation link 560 (FIG. 10) of end effector 500. Articulation bar 258 functions as a force transmitting member to components of end effector 500. In the illustrated arrangement and as further discussed in WO 2016/057225 A1, articulation bearing assembly 252 is both rotatable and longitudinally translatable and is configured to permit free, unimpeded rotational movement of end effector 500 when its first and second jaw members 610, 700 are in an approximated position and/or when jaw members 610, 700 are articulated.

In operation, as second proximal drive shaft 214 is rotated, the articulation bearing assembly 252 is axially translated along threaded distal end portion 214 a of second proximal drive shaft 214, which in turn, causes articulation bar 258 to be axially translated relative to outer tube 206. As articulation bar 258 is translated axially, articulation bar 258, being coupled to articulation link 560 of end effector 500, causes concomitant axial translation of articulation link 560 of end effector 500 to effectuate an articulation of tool assembly 600. Articulation bar 258 is secured to inner race 257 of articulation bearing 253 and is thus free to rotate about the longitudinal axis relative to outer race 259 of articulation bearing 253.

As illustrated in FIG. 6, adapter 200 includes a third drive converting assembly 260 that is supported in inner housing assembly 204. Third drive converting assembly 260 includes rotation ring gear 266 that is fixedly supported in and connected to outer knob housing 202. Ring gear 266 defines an internal array of gear teeth 266 a and includes a pair of diametrically opposed, radially extending protrusions 266 b. Protrusions 266 b are configured to be disposed within recesses defined in outer knob housing 202, such that rotation of ring gear 266 results in rotation of outer knob housing 202, and vice a versa. Third drive converting assembly 260 further includes third rotatable proximal drive shaft 216 which, as described above, is rotatably supported within inner housing assembly 204. Third rotatable proximal drive shaft 216 includes a non-circular or shaped proximal end portion that is configured for connection with third connector 220. Third rotatable proximal drive shaft 216 includes a spur gear 216 keyed to a distal end thereof. A reversing spur gear 264 inter-engages spur gear 216 a of third rotatable proximal drive shaft 216 to gear teeth 266 a of ring gear 266. In operation, as third rotatable proximal drive shaft 216 is rotated, due to a rotation of the third coupling shaft 64 b of surgical instrument 100, spur gear 216 a of third rotatable proximal drive shaft 216 engages reversing gear 264 causing reversing gear 264 to rotate. As reversing gear 264 rotates, ring gear 266 also rotates thereby causing outer knob housing 202 to rotate. Rotation of the outer knob housing 202 causes the outer tube 206 to rotate about longitudinal axis of adapter 200. As outer tube 206 is rotated, end effector 500 that is connected to a distal end portion of adapter 200, is also rotated about a longitudinal axis of adapter 200.

Adapter 200 further includes an attachment/detachment button 272 (FIG. 5) that is supported on a stem 273 (FIG. 6) that projects from drive coupling assembly 210 of adapter 200. The attachment/detachment button 272 is biased by a biasing member (not shown) that is disposed within or around stem 273, to an un-actuated condition. Button 272 includes a lip or ledge that is configured to snap behind a corresponding lip or ledge of connecting portion 20 of the surgical instrument 100. As also discussed in WO 2016/057225 A1, the adapter 200 may further include a lock mechanism 280 for fixing the axial position of distal drive member 248. As can be seen in FIG. 21, for example, lock mechanism 280 includes a button 282 that is slidably supported on outer knob housing 202. Lock button 282 is connected to an actuation bar (not shown) that extends longitudinally through outer tube 206. Actuation bar moves upon a movement of lock button 282. In operation, in order to lock the position and/or orientation of distal drive member 248, a user moves lock button 282 from a distal position to a proximal position, thereby causing the lock out (not shown) to move proximally such that a distal face of the lock out moves out of contact with camming member 288, which causes camming member 288 to cam into recess 249 of distal drive member 248. In this manner, distal drive member 248 is prevented from distal and/or proximal movement. When lock button 282 is moved from the proximal position to the distal position, the distal end of actuation bar moves distally into the lock out (not shown), against the bias of a biasing member (not shown), to force camming member 288 out of recess 249, thereby allowing unimpeded axial translation and radial movement of distal drive member 248.

Returning again to FIG. 6, adapter 200 includes an electrical assembly 290 supported on and in outer knob housing 202 and inner housing assembly 204. Electrical assembly 290 includes a plurality of electrical contact blades 292, supported on a circuit board 294, for electrical connection to pass-through connector of plate assembly of shell housing 10 of surgical instrument 100. Electrical assembly 290 serves to allow for calibration and communication information (i.e., life-cycle information, system information, force information) to pass to the circuit board of surgical instrument 100 via an electrical receptacle portion of the power-pack core assembly 106 of surgical instrument 100. Electrical assembly 290 further includes a strain gauge 296 that is electrically connected to circuit board 294. Strain gauge 296 is mounted within the inner housing assembly 204 to restrict rotation of the strain gauge 296 relative thereto. First rotatable proximal drive shaft 212 extends through strain gauge 296 to enable the strain gauge 296 to provide a closed-loop feedback to a firing/clamping load exhibited by first rotatable proximal drive shaft 212. Electrical assembly 290 also includes a slip ring 298 that is non-rotatably and slidably disposed along drive coupling nut 244 of outer tube 206. Slip ring 298 is in electrical connection with circuit board 294 and serves to permit rotation of first rotatable proximal drive shaft 212 and axial translation of drive coupling nut 244 while still maintaining electrical contact of slip ring 298 with at least another electrical component within adapter 200, and while permitting the other electrical components to rotate about first rotatable proximal drive shaft 212 and drive coupling nut 244.

Still referring to FIG. 6, inner housing assembly 204 includes a hub 205 that has a distally oriented annular wall 207 that defines a substantially circular outer profile. Hub 205 includes a substantially tear-drop shaped inner recess or bore that is shaped and dimensioned to slidably receive articulation bearing assembly 252 therewithin. Inner housing assembly 204 further includes a ring plate 254 that is secured to a distal face of distally oriented annular wall 207 of hub 204 a. Ring plate 254 defines an aperture 254 a therethrough that is sized and formed therein so as to be aligned with second proximal drive shaft 214 and to rotatably receive a distal tip thereof. In this manner, the distal tip of the second proximal drive shaft 214 is supported and prevented from moving radially away from a longitudinal rotational axis of second proximal drive shaft 214 as second proximal drive shaft 214 is rotated to axially translate articulation bearing assembly 252.

Turning next to FIG. 10, in one example, the end effector 500 may be configured for a single use (“disposable loading unit—DLU”) and be similar to those DLU's disclosed in U.S. Patent Application Publication No. 2010/0301097, entitled LOADING UNIT HAVING DRIVE ASSEMBLY LOCKING MECHANISM, now U.S. Pat. No. 9,795,384, U.S. Patent Application Publication No. 2012/0217284, entitled LOCKING MECHANISM FOR USE WITH LOADING UNITS, now U.S. Pat. No. 8,292,158, and U.S. Patent Application Publication No. 2015/0374371, entitled ADAPTER ASSEMBLIES FOR INTERCONNECTING SURGICAL LOADING UNITS AND HANDLE ASSEMBLIES, the entire disclosures of each such references being hereby incorporated by reference herein. It is also contemplated that the end effector 500 may be configured for multiple uses (MULU) such as those end effectors disclosed in U.S. Patent Application Publication No. 2017/0095250, entitled MULTI-USE LOADING UNIT, the entire disclosure of which is hereby incorporated by reference herein.

The depicted surgical instrument 100 fires staples, but it may be adapted to fire any other suitable fastener such as clips and two-part fasteners. In the illustrated arrangement, the end effector 500 comprises a loading unit 510. The loading unit 510 comprises a proximal body portion 520 and a tool assembly 600. Tool assembly 600 includes a pair of jaw members including a first jaw member 610 that comprises an anvil assembly 612 and a second jaw member 700 that comprises a cartridge assembly 701. One jaw member is pivotal in relation to the other to enable the clamping of tissue between the jaw members. The cartridge assembly 701 is movable in relation to anvil assembly 612 and is movable between an open or unclamped position and a closed or approximated position. However, the anvil assembly 612, or both the cartridge assembly 701 and the anvil assembly 612, can be movable.

The cartridge assembly 701 has a cartridge body 702 and in some instances a support plate 710 that are attached to a channel 720 by a snap-fit connection, a detent, latch, or by another type of connection. The cartridge assembly 701 includes fasteners or staples 704 that are movably supported in a plurality of laterally spaced staple retention slots 706, which are configured as openings in a tissue contacting surface 708. Each slot 706 is configured to receive a fastener or staple therein. Cartridge body 702 also defines a plurality of cam wedge slots which accommodate staple pushers 709 and which are open on the bottom (i.e., away from tissue-contacting surface) to allow an actuation sled 712 to pass longitudinally therethrough. The cartridge assembly 701 is removable from channel 720 after the staples have been fired from cartridge body 702. Another removable cartridge assembly is capable of being loaded onto channel 720, such that surgical instrument 100 can be actuated again to fire additional fasteners or staples. Further details concerning the cartridge assembly may be found, for example, in U.S. Patent Application Publication No. 2017/0095250 as well as various other references that have been incorporated by reference herein.

Cartridge assembly 701 is pivotal in relation to anvil assembly 612 and is movable between an open or unclamped position and a closed or clamped position for insertion through a cannula of a trocar. Proximal body portion 520 includes at least a drive assembly 540 and an articulation link 560. In one arrangement, drive assembly 540 includes a flexible drive beam 542 that has a distal end 544 and a proximal engagement section 546. A proximal end of the engagement section 546 includes diametrically opposed inwardly extending fingers 547 that engage a hollow drive member 548 to fixedly secure drive member 548 to the proximal end of beam 542. Drive member 548 defines a proximal porthole which receives connection member 247 of drive tube 246 of first drive converting assembly 240 of adapter 200 when the end effector 500 is attached to the distal end of the adapter 200.

End effector 500 further includes a housing assembly 530 that comprises an outer housing 532 and an inner housing 534 that is disposed within outer housing 532. First and second lugs 536 are each disposed on an outer surface of a proximal end 533 of outer housing 532 and are configured to operably engage the distal end of the adapter 200 as discussed in further detail in WO 2016/057225 A1.

With reference to FIG. 10, for example, anvil assembly 612 includes an anvil cover 630 and an anvil plate 620, which includes a plurality of staple forming depressions. Anvil plate 620 is secured to an underside of anvil cover 630. When tool assembly 600 is in the approximated position, staple forming depressions are positioned in juxtaposed alignment with staple receiving slots of the cartridge assembly 701.

The tool assembly 600 includes a mounting assembly 800 that comprises an upper mounting portion 810 and a lower mounting portion 812. A mounting tail 632 protrudes proximally from a proximal end 631 of the anvil cover 630. A centrally-located pivot member 814 extends from each upper and lower mounting portions 810 and 812 through openings 822 that are formed in coupling members 820. In at least one arrangement, the pivot member 814 of the upper mounting portion 810 also extends through an opening 634 in the mounting tail 632 as well. Coupling members 820 each include an interlocking proximal portion 824 that is configured to be received in corresponding grooves formed in distal ends of the outer housing 532 and inner housing 534. Proximal body portion 520 of end effector 500 includes articulation link 560 that has a hooked proximal end 562. The articulation link 560 is dimensioned to be slidably positioned within a slot in the inner housing. A pair of H-block assemblies 830 are positioned adjacent the distal end of the outer housing 532 and adjacent the distal end 544 of axial drive assembly 540 to prevent outward buckling and bulging of the flexible drive beam 542 during articulation and firing of surgical stapling apparatus 10. Each H-block assembly 830 includes a flexible body 832 which includes a proximal end fixedly secured to the distal end of the outer housing 532 and a distal end that is fixedly secured to mounting assembly 800. In one arrangement, a distal end 564 of the articulation link is pivotally pinned to the right H block assembly 830. Axial movement of the articulation link 560 will cause the tool assembly to articulate relative to the body portion 520.

FIGS. 11-15 illustrate an adapter 200′ that is substantially identical to adapter 200 described above, except for the differences noted below. As can be seen in FIG. 11, the adapter 200′ includes an outer tube 206 that has a proximal end portion 910 that has a first diameter “FD” and is mounted within the outer knob housing 202. The proximal end portion 910 may be coupled to the inner housing assembly 204 or otherwise supported therein in the manners discussed in further detail in WO 2016/057225 A1 for example. The proximal end portion 910 extends proximally from a central tube portion 912 that has a second diameter “SD”. In the illustrated embodiment, an end effector 500 is coupled to a distal end 914 of a shaft assembly 203 or outer tube 206. The outer tube 206 defines a longitudinal axis LA that extends between the proximal end portion 910 and the distal end 914 as can be seen in FIG. 11. As can be seen in FIGS. 10 and 11, an outer sleeve 570 of the proximal body portion 520 of the end effector 500 has a distal end portion 572 and a proximal end portion 574. The proximal end portion 574 has a diameter SD′ that is approximately equal to the second diameter SD of the central tube portion 912. The distal end portion 572 has a third diameter “TD”. In one arrangement, FD and TD are approximately equal and greater than SD. Other arrangements are contemplated wherein FD and TD are not equal, but each are greater than SD. However, it is preferable that for most cases FD and TD are dimensioned for endoscopic insertion through a typical trocar port, cannula or the like. In at least one arrangement (FIG. 11), the outer sleeve 570 is formed with a flat or scalloped side 576 to facilitate improved access within the patient while effectively accommodating the various drive and articulation components of the adapter 200′. In addition, by providing the central tube portion 912 with a reduced diameter may afford the adapter 200′ with improved thoracic in-between rib access.

In at least one arrangement, channel 720, which may be machined or made of sheet metal, includes a pair of proximal holes 722 (FIG. 10) that are configured to align with a pair of corresponding holes 636 in the anvil cover 630 to receive corresponding pins or bosses 638 (FIG. 12) to facilitate a pivotal relationship between anvil assembly 612 and cartridge assembly 701. In the illustrated example, a dynamic clamping assembly 550 is attached to or formed at the distal end 544 of the flexible drive beam 542. The dynamic clamping assembly 550 includes a vertical body portion 552 that has a tissue cutting surface 554 formed thereon or attached thereto. See FIG. 10, for example. An anvil engagement feature 556 is formed on one end of the body portion 552 and comprises an anvil engagement tab 557 that protrudes from each lateral side of the body portion 552. Similarly, a channel engagement feature 558 is formed on the other end of the of the body portion 552 and comprises a channel engagement tab 559 that protrudes from each lateral side of the body portion 552. See FIG. 15.

As indicated above, the anvil assembly 612 includes an anvil plate 620. The anvil plate 620 includes an elongate slot 622 that is configured to accommodate the body portion 552 of the dynamic clamping assembly 550 as the dynamic clamping assembly 550 is axially advanced during the firing process. The elongate slot 622 is defined between two anvil plate ledges 624 that extend along each lateral side of the elongate slot 622. See FIG. 10. As the dynamic clamping assembly 550 is distally advanced, the anvil engagement tabs 557 slidably engage the anvil plate ledges 624 to retain the anvil assembly 612 clamped onto the target tissue. Similarly, during the firing operation, the body portion 552 of the dynamic clamping assembly 550 extends through a central slot in the channel 720 and the channel engagement tabs 559 slidably engage channel ledges 725 extending along each side of the central channel slot to retain the cartridge assembly 701 clamped onto the target tissue.

Turning to FIGS. 13 and 15, the channel 720 defines a docking area generally designated as 730 that is configured to accommodate the dynamic clamping assembly 550 when it is in its proximal most position referred to herein as an unfired or starting position. In particular, the docking area 730 is partially defined by planar docking surfaces 732 that provides clearance between the channel engagement tabs 559 on the dynamic clamping assembly 550 to enable the cartridge assembly 701 to pivot to a fully opened position. A ramped or camming surface 726 extends from a distal end of each of the docking surfaces 732. Ramped surface 726 is engaged by the dynamic clamping assembly 550 in order to move the anvil assembly 612 and the cartridge assembly 701 with respect to one another. Similar camming surface could be provided on the anvil assembly 612 in other embodiments. It is envisioned that ramped surfaces 726 may also facilitate the alignment and/or engagement between channel 720 and support plate 620 and/or cartridge body 702. As the drive assembly 540 is distally advanced (fired), the channel engagement tabs 559 on the dynamic clamping assembly 550 engage the corresponding ramped surfaces 726 to apply a closing motion to the cartridge assembly 701 thus closing the cartridge assembly 701 and the anvil assembly 612. Further distal translation of the dynamic clamping assembly 550 causes the actuation sled 712 to move distally through cartridge body 702, which causes cam wedges 713 of actuation sled 712 to sequentially engage staple pushers 709 to move staple pushers 709 vertically within staple retention slots 706 and eject staples 704 into staple forming depressions of anvil plate 620. Subsequent to the ejection of staples 704 from retention slots 706 (and into tissue), the cutting edge 554 of the dynamic clamping assembly 550 severs the stapled tissue as the tissue cutting edge 554 on the vertical body portion 552 of the dynamic clamping assembly 550 travels distally through a central slot 703 of cartridge body 702. After staples 704 have been ejected from cartridge body 702 and a user wishes to use the same instrument 10 to fire additional staples 704 (or another type of fastener or knife), the user can remove the loading unit 510 from the adapter 200′ and replace it with another fresh or unspent loading unit. In an alternative arrangement, the user may simply remove the spent cartridge body 702 and replace it with a fresh unspent or unfired cartridge body 702.

During use of conventional adapters, debris and body fluids can migrate into the outer tube of the adapter and detrimentally hamper the operation of the adapter articulation and firing drive systems. In egregious cases, such debris and fluids infiltrate into the inner housing assembly of the adapter which may cause the electrical components supported therein to short out and malfunction. Further, due to limited access to the interior of the outer tube of the adapter, such debris and fluids are difficult to remove therefrom which can prevent or reduce the ability to reuse the adapter.

Turning to FIGS. 16 and 17, in one arrangement, at least one first seal 230 is provided between the proximal inner housing assembly 204 and the first rotatable proximal drive shaft 212 to prevent fluid/debris infiltration within and proximal to the proximal inner housing assembly 204. In addition, at least one second seal 232 is provided between the articulation bar 258 and the outer tube 206 to prevent fluid/debris from passing therebetween to enter the proximal inner housing assembly 204. At least one third housing seal 233 may be provided around a hub 205 of the proximal inner housing 204 to establish a seal between the hub 205 and the outer knob housing 202. The first, second, and third seals 230, 232, 233 may comprise, for example, flexible O-rings manufactured from rubber or other suitable material.

In other arrangements, it may be desirable for the first and second seals 230, 232 to be located in the adapter 200 distal to the electronic components housed within the outer knob housing 202. For example, to prevent fluids/debris from fouling/shorting the slip ring assembly 298, it is desirable establish seals between the various moving components of the adapter 200 that are operably supported within the outer tube 206 in a location or locations that are each distal to the slip ring assembly 298, for example. The seals 230, 232 may be supported in the wall of the outer tube and/or in mounting member 234 or other separate mounting member/bushing/housing supported within the outer tube 206 and configured to facilitate axial movement of the distal drive member 248 as well as the articulation bar 258 while establishing a fluid-tight seal between the bushing and/or outer tube and the distal drive member 248 and the articulation bar 258. See FIGS. 18 and 20. In the embodiment illustrated in FIG. 19 for example, the first seal 230 may additionally have wiper features 231 that also slidably engage the distal drive member 248 to prevent fluid/debris D from infiltrating in the proximal direction PD into the proximal inner housing assembly 204. In at least one arrangement to enable debris and fluids that have collected in the outer tube 206 distal to the first and second seals 230, 232, at least two flushing ports 236, 238 are provided within the outer tube 206. See e.g., FIGS. 18 and 20. The axially spaced flushing ports 236, 238 are located distal to the first and second seals 230, 232. A flushing solution (e.g., cleaning fluid, saline fluid, air, etc.) may be entered into one or more port(s) to force the errant debris and fluid out of one or more other port(s).

During use of an adapter 200 and electromechanical surgical instrument 100, the surgical end effector 500 is generally positioned in an unarticulated position (the longitudinal axis defined by the proximal housing portion is axially aligned with the longitudinal axis LA of the shaft assembly of the adapter) to permit the surgical end effector 500 to be inserted through a trocar cannula into the patient. Once the surgical end effector 500 has been inserted into the patient, the clinician may activate the source of rotary actuation motions (motor 156) to apply an amount of rotary articulation motions to the rotary articulation drive shaft 214 in the adapter 200 to axially displace the articulation driver or bar 258 an amount necessary to articulate the surgical end effector 500 into a desired articulated position. Once the surgical end effector 500 has been articulated in the desired articulated position, the motor 156 is deactivated so that the end effector 500 remains articulated during the firing stroke.

After the surgical end effector 500 has been articulated into the desired articulated position and the source of rotary articulation motions has been deactivated in the electromechanical surgical instrument 100, the clinician activates the source of rotary firing motions (motor 152) to apply an initial amount of rotary firing motions to the rotary firing drive shaft 214 in the adapter 200 to axially displace the distal drive member 248 to ultimately cause the dynamic clamping assembly 550 in the surgical end effector 500 to move from the starting position to a firing position. As the dynamic clamping assembly 550 moves from the starting position to the firing position, the dynamic clamping assembly applies a closing motion to the anvil assembly 612 and cartridge assembly 701 of the end effector 500 to move the anvil 612 and cartridge assembly 701 from a fully open position to a closed position. At that point, the clinician may cease actuation of the motor 152 or motor 152 may continue to be actuated to drive the dynamic clamping assembly 550 through its firing stroke wherein it cuts the clamped tissue and causes the fasteners stored in the cartridge assembly 701 to be ejected into forming engagement with the anvil 612. As the flexible firing beam 542 applies the axial firing motions from the distal drive member 248 to the dynamic clamping assembly 550, the flexible firing beam 542 must flex around the articulation joint to accommodate the articulated position of tool assembly 600 relative to the proximal body portion 520. Such flexing of the firing beam 542 applies resistive forces to the tool assembly 600 that seek to undesirably straighten or align the tool assembly 600 with the proximal body portion 520 and essentially move the tool assembly 600 out of the desired articulated position. In at least one form, the adapter 8200 depicted in FIG. 22 may address such problem.

FIG. 22 illustrates a portion of adapter 8200 which is otherwise identical to adapter 200 described above. As can be seen in that Figure, adapter 8200 includes a control system 8210 that operably interfaces with the articulation driver 258 and is configured to communicate electrical signals back to a motor control circuit for the motor 156 that applies the rotary articulation motions in the electromechanical surgical instrument. In the illustrated arrangement, for example, the control system 8210 includes a strain gauge 8212 that is or attached to the articulation driver 258. Leads 8214 for the strain gauge extend through an opening 8218 in an internal bushing 8216 that may be mounted in the inner housing 204 to be coupled to a connector 8219 that may interface with a slip ring arrangement (not shown) that is in electrical contact with the electrical assembly 290, for example. In such arrangement, the leads 8214 are long enough to permit the shaft assembly 203′ to rotate about the longitudinal axis LA. In an alternative arrangement, the leads 8214 are attached to a connector that is supported within the inner housing 204 and configured to electrical interface with the slip ring 298 of the electrical assembly 290 (FIG. 6). In such arrangement, the slip ring 298 is in electrical communication with a circuit board 294. The circuit board 294 includes a plurality of electrical contact blades 292 for electrical connection to pass-through connector 66 of plate assembly 60 of shell housing 10 of the surgical instrument 100. Such arrangement facilitates passage of signals from the strain gauge 8212 to the motor controller circuit board 142 a in the surgical instrument 100.

FIG. 23 illustrates the actions of one method 8220 for controlling various features of the adapter 8200 when operably coupled to the surgical instrument 100 or other motor powered system after the surgical end effector 500 of the adapter 8200 has been entered into the patient. When a trocar is employed, the surgical end effector 500 is in an unarticulated position with the jaws 610, 700 closed to enable the surgical end effector 500 to pass through the cannula of the trocar. Once the surgical end effector 500 has entered the patient, the anvil 612 and cartridge assembly 701 of the surgical end effector 500 are opened to the fully open position. This may be accomplished by reversing the motor 152 (through manual controls or automatic controls) to move the dynamic clamping assembly 550 back to its starting position. Thereafter, the end effector 500 is then articulated to a desired articulated position (action 8222). This is accomplished by actuating the source of rotary articulation motions (motor 156) in the surgical instrument 100 or other motor powered system (through manual controls or automatic controls). In the example of FIG. 23, the clamping action 8224 encompasses first opening the jaws (if the end effector was articulated to the desired articulated position with the jaws closed) and then clamping the jaws onto a target tissue. This is accomplished by reversing the motor 152 or other motor driven system (through manual controls or automatic controls) to move the dynamic clamping assembly 550 back to its starting position (if the jaws were closed) and then actuating the motor 152 (through manual controls or automatic controls) to move the dynamic clamping assembly 550 from its starting position to its firing position (action 8224).

Still referring to FIG. 23, once the target tissue has been clamped between the jaws (anvil assembly 612 and cartridge assembly 701) the axial position of the articulation driver 258 may be recorded as well as the amount of strain experienced by the articulation driver 258 is recorded by the motor controller circuit (action 8226). Other means may also be employed to determine and record the articulated position of the surgical end effector. In an alternative arrangement, the amount of strain experienced by the articulation driver may be recorded prior to clamping. Thereafter, the firing stroke is initiated (action 8228). This may be accomplished by actuating the motor 152 or other motor driven system (through manual controls or automatic controls) to move the dynamic clamping assembly 550 from its firing position to its ending position within the end effector 500. As the dynamic clamping assembly 550 moves from the firing position to ending position, the dynamic clamping assembly 550 cuts the clamped tissue and ejects the fasteners stored in the cartridge assembly into forming engagement with the anvil. During this firing stroke (action 8228), the magnitude and direction of a change in the amount of strain experienced by the articulation driver 258 is measured and sent to the motor control circuit (action 8230). The motor control circuit compares this strain information to the previously recorded strain information and if necessary, the motor 156 or other motor driven system is reactivated (through manual controls or automatic controls) to move the articulation driver 258 in an appropriate axial direction to bring the recorded strain approximately back to the previously recorded strain information or at least reduce the amount of strain being experienced by the articulation driver 258 as the dynamic clamping assembly 550 is being driven from the firing position to ending position (action 8232) to maintain the surgical end effector in the desired articulated position.

EXAMPLES Example 1

An adapter for use with an electromechanical surgical instrument. In at least one example, the adapter comprises an adapter housing assembly that is configured to be operably coupled to the electromechanical surgical instrument. A shaft assembly defines a longitudinal axis that extends between a proximal end and a distal end thereof. The proximal end is operably coupled to the adapter housing assembly. A surgical end effector is operably coupled to the distal end of the shaft assembly for selective articulation relative to the shaft assembly. An articulation actuator assembly is configured to operably interface with a source of rotary articulation motions in the electromechanical surgical instrument when the adapter housing assembly is operably coupled thereto to apply axial articulation motions to the surgical end effector to move the surgical end effector into a desired articulated position. A firing member assembly is configured to operably interface with a source of rotary firing motions in the electromechanical surgical instrument when the adapter housing assembly is operably coupled thereto to apply axial firing motions to the surgical end effector while the surgical end effector is in the desired articulated position. The adapter further comprises a control system that operably interfaces with the articulation actuator assembly and the source of rotary articulation motions in the electromechanical surgical instrument to cause the source of rotary articulation motions to apply additional rotary articulation motions to the articulation actuator assembly that are required to maintain the surgical end effector in the desired articulated position during an application of axial firing motions to the surgical end effector.

Example 2

The adapter of Example 1, wherein the articulation actuator assembly comprises a rotary articulation drive shaft that is configured to operably interface with the source of rotary articulation motions in the electromechanical surgical instrument when the adapter housing assembly is operably coupled thereto. An articulation driver operably interfaces with the rotary articulation drive shaft and the surgical end effector and is configured to move axially in response to rotation of the rotary articulation drive shaft to articulate the surgical end effector through a range of articulated orientations. The control system further comprises means for monitoring strain experienced by the articulation driver during the application of axial firing motions to the surgical end effector and communicating a signal corresponding to a magnitude of the strain to a control circuit for the source of rotary articulation motions in the electromechanical surgical instrument.

Example 3

The adapter of Examples 1 or 2, wherein the firing member assembly, comprises a rotary firing shaft that is configured to operably interface with the source of rotary firing motions in the electromechanical surgical instrument and an axially movable firing member that operably interfaces with the rotary firing shaft and is configured to apply the axial firing motions to a portion of the surgical end effector.

Example 4

The adapter of Examples 1, 2 or 3, wherein the surgical end effector comprises a first jaw and a second jaw that is pivotally coupled to the first jaw such that the first jaw and the second jaw are movable relative to each other between a fully open position and closed positions and wherein the portion of the surgical end effector comprises a dynamic clamping assembly that is configured to apply closing motions to the first and second jaws upon an initial amount of axial displacement thereof.

Example 5

The adapter of Example 4, wherein the first jaw comprises an anvil and the second jaw comprises a cartridge assembly.

Example 6

The adapter of Example 5, wherein the cartridge assembly comprises a channel movably coupled to the anvil and a fastener cartridge that is operably supported in the channel and which operably stores a plurality of fasteners therein.

Example 7

The adapter of Examples 4, 5 or 6, wherein the dynamic clamping assembly comprises a tissue cutting surface and is configured to eject the plurality of fasteners from the fastener cartridge as the dynamic clamping assembly is driven from a beginning firing position to an ending position within the surgical end effector.

Example 8

The adapter of Examples 1, 2, 3, 4, 5, 6 or 7, wherein the surgical end effector comprises a proximal housing portion that includes a proximal end and a distal end and defines a longitudinal axis that extends therebetween. The proximal end is configured to be operably coupled to the distal end of the shaft assembly. A tool assembly is pivotally coupled to the proximal housing portion for selective articulation relative thereto about an articulation axis that is transverse to the longitudinal axis.

Example 9

The adapter of Example 8, wherein the proximal housing portion operably supports an articulation link that is coupled to the tool assembly and is configured for operable attachment to the articulation actuator assembly when the proximal housing portion is operably coupled to the distal end of the shaft assembly.

Example 10

The adapter of Examples 8 or 9, wherein the tool assembly comprises a first jaw and a second jaw that is pivotally coupled to the first jaw such that the first jaw and the second jaw are movable relative to each other between a fully open position and closed positions.

Example 11

The adapter of Example 10, wherein the surgical end effector further comprises a dynamic clamping assembly that is configured to apply closing motions to the first and second jaws upon an initial amount of axial displacement thereof. A flexible drive beam is supported for axial movement within the proximal housing portion and is configured to be operably coupled to the firing member assembly when the proximal housing portion is operably coupled to the distal end of the shaft assembly. The flexible drive beam also operably interfaces with the dynamic clamping assembly.

Example 12

The adapter of Example 2, wherein the means for monitoring strain experienced by the articulation driver during application of axial firing motions to the surgical end effector and communicating a signal corresponding to a magnitude of the strain to a control circuit for the source of rotary articulation motions in the electromechanical surgical instrument comprises a strain gauge that operably interfaces with the articulation driver.

Example 13

An electromechanical surgical system that comprises a shaft assembly that defines a longitudinal axis that extends a proximal end and a distal end thereof. A surgical end effector is operably coupled to the distal end of the shaft assembly for selective articulation relative to the shaft assembly. The surgical end effector comprises an axially movable dynamic assembly for applying actuation motions to portions of the surgical end effector. The system further comprises a source of rotary firing motions and a firing member assembly that operably interfacing with the source of rotary firing motions to apply axial firing motions to the axially movable dynamic assembly in the surgical end effector. The system further comprises a source of rotary articulation motions and an articulation actuator assembly that is configured to operably interface with the source of rotary articulation motions to apply axial articulation motions to the surgical end effector to move the surgical end effector into a desired articulated position. A control system operably interfaces with the articulation actuator assembly and the source of rotary articulation motions and is configured to cause the source of rotary articulation motions to apply additional rotary articulation motions to the articulation actuator assembly that are required to maintain the surgical end effector in the desired articulated position during an application of axial firing motions to the axially movable dynamic assembly in the surgical end effector.

Example 14

The electromechanical surgical system of Example 13, wherein the surgical end effector comprises a first jaw and a second jaw that is pivotally coupled to the first jaw such that the first jaw and the second jaw are movable relative to each other between a fully open position and closed positions and wherein the movable dynamic assembly is configured to apply closing motions to the first and second jaws upon an initial amount of axial displacement thereof.

Example 15

The electromechanical surgical system of Example 14, wherein the first jaw comprises an anvil and the second jaw comprises a cartridge assembly.

Example 16

The electromechanical surgical system of Example 15, wherein the cartridge assembly comprises a channel that is pivotally coupled to the anvil. A fastener cartridge is operably supported in the channel and operably stores a plurality of fasteners therein.

Example 17

The electromechanical surgical system of Example 16, wherein the movable dynamic assembly comprises a tissue cutting surface and is configured to eject said plurality of fasteners from the fastener cartridge as the movable dynamic assembly is axially driven from a beginning firing position to an ending position within the surgical end effector.

Example 18

The electromechanical surgical system of Examples 13, 14, 15, 16 or 17, wherein the source of rotary firing motions and the source of rotary articulation motions are supported on a housing and wherein the shaft assembly is configured to be removably coupled to the housing.

Example 19

The electromechanical surgical system of Examples 13, 14, 15, 16, 17 or 18, wherein the control system comprises means for monitoring strain experienced by the articulation actuator assembly during application of axial firing motions to the axially movable dynamic member in the surgical end effector and communicating a signal corresponding to a magnitude of the strain to a control circuit for the source of rotary articulation motions.

Example 20

A method for controlling operation of a surgical instrument including an articulatable surgical end effector including jaws that are movable between an open and closed position by an axially displaceable dynamic clamping assembly that is configured to eject fasteners stored in one of the jaws and cut tissue clamped therebetween. In at least one example, the method comprises activating a source of articulation motions to apply an articulation motion to an articulation member that is coupled to the surgical end effector to move the surgical end effector into a desired articulated position and then deactivating the source of articulation motions. The method further comprises applying a first amount of axial firing motion to the axially displaceable dynamic clamping assembly to move the jaws to a closed position to clamp tissue therebetween. The method further includes recording an amount of strain experienced by the articulation member when in that desired articulated position and applying a second amount of axial firing motion to the axially displaceable dynamic clamping assembly to cause the dynamic clamping assembly to cut the tissue and eject the fasteners stored in one of the jaws. The method further comprises measuring a magnitude and direction of any change in the amount of strain on the articulation member during said application of the second amount of axial firing motion and reactivating the source of articulation motions to apply addition articulation motions to the articulation member based upon the measured change to maintain the surgical end effector in the desired articulation position during said applying the second amount of axial firing motion.

Many of the surgical instrument systems described herein are motivated by an electric motor; however, the surgical instrument systems described herein can be motivated in any suitable manner. In various instances, the surgical instrument systems described herein can be motivated by a manually-operated trigger, for example. In certain instances, the motors disclosed herein may comprise a portion or portions of a robotically controlled system. Moreover, any of the end effectors and/or tool assemblies disclosed herein can be utilized with a robotic surgical instrument system. U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat. No. 9,072,535, for example, discloses several examples of a robotic surgical instrument system in greater detail.

The surgical instrument systems described herein have been described in connection with the deployment and deformation of staples; however, the embodiments described herein are not so limited. Various embodiments are envisioned which deploy fasteners other than staples, such as clamps or tacks, for example. Moreover, various embodiments are envisioned which utilize any suitable means for sealing tissue. For instance, an end effector in accordance with various embodiments can comprise electrodes configured to heat and seal the tissue. Also, for instance, an end effector in accordance with certain embodiments can apply vibrational energy to seal the tissue.

Although various devices have been described herein in connection with certain embodiments, modifications and variations to those embodiments may be implemented. Particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, the particular features, structures, or characteristics illustrated or described in connection with one embodiment may be combined in whole or in part, with the features, structures or characteristics of one ore more other embodiments without limitation. Also, where materials are disclosed for certain components, other materials may be used. Furthermore, according to various embodiments, a single component may be replaced by multiple components, and multiple components may be replaced by a single component, to perform a given function or functions. The foregoing description and following claims are intended to cover all such modification and variations.

The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, a device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps including, but not limited to, the disassembly of the device, followed by cleaning or replacement of particular pieces of the device, and subsequent reassembly of the device. In particular, a reconditioning facility and/or surgical team can disassemble a device and, after cleaning and/or replacing particular parts of the device, the device can be reassembled for subsequent use. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.

The devices disclosed herein may be processed before surgery. First, a new or used instrument may be obtained and, when necessary, cleaned. The instrument may then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and instrument may then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, and/or high-energy electrons. The radiation may kill bacteria on the instrument and in the container. The sterilized instrument may then be stored in the sterile container. The sealed container may keep the instrument sterile until it is opened in a medical facility. A device may also be sterilized using any other technique known in the art, including but not limited to beta radiation, gamma radiation, ethylene oxide, plasma peroxide, and/or steam.

While this invention has been described as having exemplary designs, the present invention may be further modified within the spirit and scope of the disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles. 

What is claimed is:
 1. An adapter for use with an electromechanical surgical instrument, said adapter comprising: an adapter housing assembly configured to be operably coupled to the electromechanical surgical instrument; a shaft assembly defining a longitudinal axis between a proximal end and a distal end thereof, said proximal end operably coupled to said adapter housing assembly; a surgical end effector operably coupled to said distal end of said shaft assembly for selective articulation relative to said shaft assembly; an articulation actuator assembly configured to operably interface with a source of rotary articulation motions in the electromechanical surgical instrument when said adapter housing assembly is operably coupled thereto to apply axial articulation motions to said surgical end effector to move said surgical end effector into a desired articulated position; a firing member assembly configured to operably interface with a source of rotary firing motions in the electromechanical surgical instrument when said adapter housing assembly is operably coupled thereto and apply axial firing motions to said surgical end effector while said surgical end effector is in said desired articulated position; and a control system operably interfacing with said articulation actuator assembly and the source of rotary articulation motions in the electromechanical surgical instrument to cause the source of rotary articulation motions to apply additional rotary articulation motions to said articulation actuator assembly required to maintain said surgical end effector in said desired articulated position during an application of axial firing motions to said surgical end effector.
 2. The adapter of claim 1, wherein said articulation actuator assembly comprises: a rotary articulation drive shaft configured to operably interface with the source of rotary articulation motions in the electromechanical surgical instrument when said adapter housing assembly is operably coupled thereto; and an articulation driver operably interfacing with said rotary articulation drive shaft and said surgical end effector and configured to move axially in response to rotation of said rotary articulation drive shaft to articulate said surgical end effector through a range of articulated orientations and wherein said control system comprises means for monitoring strain experienced by said articulation driver during said application of axial firing motions to said surgical end effector and communicating a signal corresponding to a magnitude of said strain to a control circuit for the source of rotary articulation motions in the electromechanical surgical instrument.
 3. The adapter of claim 2, wherein said means for monitoring strain experienced by said articulation driver during said application of axial firing motions to said surgical end effector and communicating a signal corresponding to a magnitude of said strain to a control circuit for the source of rotary articulation motions in the electromechanical surgical instrument comprises a strain gauge that is mounted to said articulation driver.
 4. The adapter of claim 1, wherein said firing member assembly, comprises: a rotary firing shaft configured to operably interface with the source of rotary firing motions in the electromechanical surgical instrument; and an axially movable firing member operably interfacing with said rotary firing shaft and configured to apply said axial firing motions to a portion of said surgical end effector.
 5. The adapter of claim 4, wherein said surgical end effector comprises: a first jaw; and a second jaw pivotally coupled to said first jaw such that said first jaw and said second jaw are movable relative to each other between a fully open position and closed positions and wherein said portion of said surgical end effector comprises a dynamic clamping assembly configured to apply closing motions to said first and second jaws upon an initial amount of axial displacement thereof.
 6. The adapter of claim 5, wherein said first jaw comprises an anvil and said second jaw comprises a cartridge assembly.
 7. The adapter of claim 6, wherein said cartridge assembly comprises: a channel pivotally coupled to said anvil; and a fastener cartridge operably supported in said channel and operably storing a plurality of fasteners therein.
 8. The adapter of claim 7, wherein said dynamic clamping assembly comprises a tissue cutting surface and is configured to eject said plurality of fasteners from said fastener cartridge as said dynamic clamping assembly is driven from a beginning firing position to an ending position within said surgical end effector.
 9. The adapter of claim 1, wherein said surgical end effector comprises: a proximal housing portion comprising a proximal end and a distal end and defining a longitudinal axis therebetween, said proximal end configured to be operably coupled to said distal end of said shaft assembly; and a tool assembly pivotally coupled to said proximal housing portion for selective articulation relative thereto about an articulation axis that is transverse to said longitudinal axis.
 10. The adapter of claim 9, wherein said proximal housing portion operably supports an articulation link coupled to said tool assembly and configured for operable attachment to said articulation actuator assembly when said proximal housing portion is operably coupled to said distal end of said shaft assembly.
 11. The adapter of claim 10, wherein said tool assembly comprises: a first jaw; and a second jaw pivotally coupled to said first jaw such that said first jaw and said second jaw are movable relative to each other between a fully open position and closed positions.
 12. The adapter of claim 11, wherein said surgical end effector further comprises: a dynamic clamping assembly configured to apply closing motions to said first and second jaws upon an initial amount of axial displacement thereof; and a flexible drive beam supported for axial movement within said proximal housing portion and configured to be operably coupled to said firing member assembly when said proximal housing portion is operably coupled to said distal end of said shaft assembly, said flexible drive beam operably interfacing with said dynamic clamping assembly. 